EP1983309A1 - Instrumented articulation system. - Google Patents

Instrumented articulation system. Download PDF

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Publication number
EP1983309A1
EP1983309A1 EP08154212A EP08154212A EP1983309A1 EP 1983309 A1 EP1983309 A1 EP 1983309A1 EP 08154212 A EP08154212 A EP 08154212A EP 08154212 A EP08154212 A EP 08154212A EP 1983309 A1 EP1983309 A1 EP 1983309A1
Authority
EP
European Patent Office
Prior art keywords
sleeve
support
housing
axial
bearing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP08154212A
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German (de)
French (fr)
Inventor
François NIARFEIX
Benoît Locher
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SKF AB
Original Assignee
SKF AB
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Filing date
Publication date
Application filed by SKF AB filed Critical SKF AB
Publication of EP1983309A1 publication Critical patent/EP1983309A1/en
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/006—Pivot joint assemblies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
    • F16C41/007—Encoders, e.g. parts with a plurality of alternating magnetic poles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
    • G01D11/24—Housings ; Casings for instruments
    • G01D11/245—Housings for sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2233/00—Monitoring condition, e.g. temperature, load, vibration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2350/00—Machines or articles related to building
    • F16C2350/26—Excavators

Definitions

  • the present invention relates to the field of instrumented articulation systems used in particular on machines for the execution of earthworks.
  • the present invention relates to an instrumented articulation system for connecting a first portion and a second pivotable movable portion relative to the first portion, and adapted to measure the relative angular displacement of these two parts.
  • Such articulation systems are conventionally used for articulated arms of earth-moving machines in order to control the angular displacement of various articulated elements.
  • these systems comprise a detection box which is attached to an axial end of an articulation shaft connecting two parts, one of which is pivotally movable relative to the other.
  • the housing can also be subjected to shocks during movement of the machine on which it is mounted.
  • the document EP-A-1 092 809 describes an instrumented articulation system provided with a main shaft comprising a recess inside which is mounted by fitting a housing comprising means for detecting rotation parameters.
  • the hinge system also includes a secondary shaft and a rolling bearing mounted between said shaft and the housing for detecting rotational parameters.
  • This articulation system has the major disadvantage of not allowing easy extraction of the housing for example for a repair operation of one of the means provided for the detection.
  • it is necessary to exert a relatively large axial pulling force on the secondary shaft, which subjects the rolling bearing to excessive stresses and can cause a deterioration of the latter. this.
  • the present invention therefore aims to overcome this disadvantage.
  • the present invention aims to provide an instrumented articulation system which is particularly compact, well protected, easy to assemble and disassemble, and economical.
  • the present invention also aims to provide a system with good reliability.
  • the instrumented articulation system comprises a hinge pin adapted to connect a first portion and a second pivotable movable portion relative to the first portion, and a rotation parameter detection assembly of the second portion. mounted inside a housing of the hinge pin.
  • Said detection assembly comprises at least one bearing provided with an inner ring and an outer ring, and a sleeve angularly bonded to the outer ring.
  • the detection assembly is further provided with a support angularly connected to the axis articulation and on which is mounted the inner ring of the bearing, and an axial retaining means of the support inside the housing.
  • an axial retaining means avoids to provide a tight fitting of the support inside the housing. Therefore, after removing the axial retaining means, the support and the sleeve can be easily removed from the housing. This limits the risk of deterioration of the rolling bearings during disassembly of the system.
  • the axial retention means comprises a sleeve provided with a fixing portion on the hinge axis and a bearing surface for the support.
  • the support comprises an outer tubular axial portion disposed inside a cylindrical bore of the housing.
  • the outer tubular axial portion radially surrounds at least part of the sleeve leaving a radial clearance between said sleeve and the support.
  • the support comprises a frustoconical wedging portion adapted to cooperate with a portion of complementary shape of a bore of the housing of the hinge pin.
  • the sheath is entirely housed inside the housing of the hinge pin.
  • the sleeve may comprise a stepped bore for mounting elements of the detection assembly.
  • the detection assembly comprises a connector extending axially inside the sheath.
  • the connector is fully housed inside the sleeve.
  • the detection assembly comprises an encoder element mounted at an axial end of the support and a sensor element located axially opposite said encoder element.
  • the sensor element is mounted against a printed circuit board bearing against an abutment surface of the sleeve.
  • the subject of the invention is also an earthmoving machine comprising a first part, a second mobile part forming a pivoting arm with respect to the first part, at least one hinge axis capable of connecting the parts together, and a detection assembly. rotation parameters of the second portion mounted within a housing of the hinge axis.
  • Said detection assembly comprises at least one bearing provided with an inner ring and an outer ring, and a sleeve angularly bonded to the outer ring.
  • the detection assembly is further provided with a support angularly connected to the hinge pin and on which is mounted the inner ring of the bearing, and an axial retaining means of the support inside the housing.
  • the detection assembly comprises a support for mounting the inner ring of the bearing and a locking means in position of the support inside the housing.
  • an instrumented articulation system designated by the general reference numeral 10, intended to connect a first part, here fixed 12 and integral with a chassis (not shown) of a machine for the execution of earthworks and a second part 14 articulated arm movable relative to the first part 12.
  • the machine can for example be a backhoe.
  • the first fixed portion 12 comprises in particular two connecting elements 16, 18 parallel and interconnected by a spacer 20 extending transversely.
  • the hinge system 10 To allow rotational mounting of the hinge system 10 relative to the first fixed portion 12, it also comprises plain bearings 22, 24 mounted near free ends of the connecting members 16 and 18, respectively.
  • the second movable portion 14 has, in cross section, a generally U-shaped. Each end of the U comprises a yoke 26, 28 respectively surrounding the connecting elements 16 and 18.
  • the system 10 comprises a first hinge axis 30 mounted on the yoke 26, and a second hinge axis 32 disposed at the yoke 28.
  • the hinge axes 30, 32 comprise a common geometric axis 34.
  • first hinge axis 30 is rotatably mounted relative to the first fixed portion 12 about the axis 34, via the bearing 22. It is fixed rigidly on the second movable portion 14 at the level of clevis 26.
  • the second hinge pin 32 is rotatably mounted relative to the first fixed part 12 about the axis 34, via the bearing 24.
  • the system 10 also comprises a rotation parameter detection assembly 40 mounted inside the hinge axis 30.
  • the detection unit 40 is mounted inside a cylindrical bore 42 centered on the axis 34 and formed from a radial end surface 44 of the hinge axis 30.
  • the bore 42 delimits a housing 46 within which is entirely mounted the detection assembly 40.
  • the detection assembly 40 mainly comprises a support 48 comprising an encoder element 50, a sleeve 52 supporting a sensor element 54 axially facing the encoder element 50, and a rolling bearing 56 disposed between the support and the sleeve.
  • the support 48 comprises an inner axial portion 48a which is extended outwards, from an axial end, by a first radial portion 48b, itself extended outwards by a second radial portion 48c of reduced axial dimension. .
  • the radial portion 48c is extended from a large diameter edge by a frustoconical portion 48d flaring outwards, itself extended axially by an outer tubular axial portion 48e radially surrounding the first portion 48a.
  • the support 48 is delimited axially by end radial end surfaces 48f and 48g.
  • the support 48 is mounted axially inside the bore 42 of the hinge pin 30. Specifically, the radial end face 48f is near a bottom wall 58 of the bore 42
  • the outer tubular axial portion 48e of the support 48 is housed with a small radial clearance inside the bore 42 of the hinge pin 30.
  • the frustoconical portion 48d forms a wedging and centering portion of said support inside the bore 42.
  • the sheath 52 centered on the axis 34, has a generally tubular shape.
  • the sheath 52 is located entirely axially inside the housing 46, and remains radially at a distance from the cylindrical bore 42. In other words, there is a radial space between the outer surface of the sheath 52 and the bore 42.
  • the sheath 52 comprises a stepped bore 60 formed from a radial end surface 61 which is offset axially relative to at the end surface 44, towards the bottom wall 58.
  • the bore 60 extends over the entire length of the sheath 52.
  • Said sheath has a generally hollow shape.
  • the bore 60 comprises a first stage 60a extending from the end surface 51 and extended at an axial end by a second stage 60b of reduced diameter, itself extended to an axial end located on the opposite side to the first stage 60a, by a third stage 60c of diameter greater than the diameter of the first stage 60a.
  • the third stage 60c is extended at one axial end by a fourth stage 60d, itself extended axially on the opposed to the third stage 60c, by a fifth stage 60e of larger diameter.
  • the fifth stage of the bore 60e extends axially in part in the annular space defined between the first and second inner axial portions 48a and outer 48e of the support 48, to the vicinity of the radial portion 48c.
  • the outer portion 48e radially surrounds at least part of the sleeve 52 leaving a radial clearance between said sleeve and the support.
  • the rolling bearing 56 deep groove and radial side faces, is a standard bearing which has a low manufacturing cost. It comprises an inner ring 62, an outer ring 64, between which are housed a row of rolling elements 66 made here in the form of balls, a cage 68 for holding the circumferential space of the rolling elements, and two seals 70 and 72.
  • the inner ring 62 is massive type.
  • the term "solid type ring” means a ring whose shape is obtained by machining with removal of chips (turning, grinding) from tubes, bars, forged blanks and / or rolled.
  • the inner ring 62 comprises a bore 62a of cylindrical shape fitted on the outer surface of the axial portion 48a of the support 48, and defined by opposite radial side surfaces 62b and 62c.
  • the radial lateral surface 62b is mounted against the radial portion 48b which thus forms an axial abutment surface for the bearing 56.
  • the inner ring 62 also comprises an outer cylindrical surface 62d from which is formed a toroidal circular groove (not referenced) having in cross section a concave internal profile adapted to form a raceway for the rolling elements 66, said groove being oriented outwards.
  • the outer ring 64 also of massive type, comprises an outer cylindrical surface 64a fitted by fitting inside the fifth stage 60e of the bore 60 of the sleeve 52, and delimited by opposite radial lateral surfaces 64b and 64c.
  • the radial lateral surface 64c abuts against a radial surface of the bore 60 formed between the fifth stage 60e and the fourth stage 60d of said bore. This surface thus forms an axial abutment surface for the bearing 56.
  • the outer ring 64 further comprises a cylindrical bore 64d from which is formed a toroidal circular groove (not referenced) having in cross section a concave internal profile adapted to form a raceway for the rolling elements 66, said groove being oriented towards the inside.
  • a toroidal circular groove (not referenced) having in cross section a concave internal profile adapted to form a raceway for the rolling elements 66, said groove being oriented towards the inside.
  • the outer ring 64 also comprises, at the bore 64d and near the radial surfaces 64b and 64c, two grooves (not referenced) annular symmetrical to each other with respect to a radial plane passing through the center of the rolling elements 66. A the inside of said grooves are mounted the seals 70 and 72 of sealing adapted to prevent the intrusion of unwanted external elements inside the rolling bearing 56.
  • the detection assembly 40 comprises the encoder element 50 and the sensor element 54 located substantially axially opposite said encoder element .
  • the encoder element 50 is mounted in a housing 74 formed from the radial end surface 48g.
  • the encoder element 50 is mounted at an axial end of the support 48, on the opposite side to the bottom wall 58 of the hinge axis 30.
  • the encoder element 50 is here centered on the axis 34, being in slight axial projection relative to the radial end surface 48g.
  • the encoder element 50 may for example be in the form of a magnet, of generally cylindrical shape. It is fixed inside the housing 74, by any appropriate means.
  • the sensor element 54 comprises, for its part, an active sensor portion 76 and a rigid printed circuit board 78 forming a support plate for the sensor 76 which is mounted in abutment against a radial surface delimited by the third stage 60c and the fourth stage 60d of the bore 60 of the sleeve 52.
  • the sensor 76 is mounted axially facing the encoder element 50 with a small axial gap.
  • the sensor 76 may be of the magneto-sensitive type, and may comprise, for example, a magnetoresistance or a beam of Hall effect probes.
  • the sensor 76 is arranged at a short axial distance from the encoder element 50, which promotes the compactness of the assembly 40.
  • the printed circuit board 78 is able to process data or signals transmitted by the sensor 76 representative of the angular position of the second movable portion 14 relative to that of the first fixed portion 12.
  • the card 78 may include a preprocessing circuit of the transmitted signals.
  • the system 10 also comprises two bearing washers 80 and 82 mounted axially in abutment with each other and in contact with the fourth stage 60d of the bore 60.
  • the bearing washer 80 is mounted axially against a surface of the PCB 78.
  • the bearing washer 80 is made of a relatively rigid material, for example steel.
  • the bearing washer 82 is mounted, for its part, axially between the bearing washer 88 and the radial surface 64c of the outer ring 64. of the bearing 56.
  • the washer 82 is made of flexible elastic material, for example elastomer.
  • the support washer 82 axially prestressing the bearing washer 80 against the printed circuit board 78, which in particular makes it possible to absorb any dimensional variations thereof and to guarantee permanently a correct axial positioning of the the card 78 and the absence of axial play.
  • an axially resilient corrugated washer it could also be possible to provide for this purpose an axially resilient corrugated washer.
  • the system 10 also comprises a control unit (not shown) which may comprise a filtering element, an analog / digital converter for converting the transmitted signals. by said sensor.
  • a control unit (not shown) which may comprise a filtering element, an analog / digital converter for converting the transmitted signals. by said sensor.
  • the detection assembly 40 further comprises a connector 86 mounted inside the second stage 60b of the bore 60 of the sleeve 52.
  • the connector 86 is extends axially outwards, however being fully housed inside the bore 60.
  • the connector 86 is entirely housed inside the sleeve 52, an axial end of said connector being slightly recessed with respect to the end surface 61. Given the hollow shape of the sleeve 52, the connector 86 can be easily electrically connected with the outside of the system without the need to provide in said sheath a specific path for an electrical cable and / or the use of additional fasteners. This simplifies the design of the sheath 52, and more generally of the system 10.
  • the connector 86 is connected to the printed circuit board 78 through electrical connections 89 which extend axially between these two elements within the third stage 60c of the bore 60.
  • a seal 90 is further provided between the second stage 60b of the bore 60 and the connector 86.
  • the system 10 comprises a bracket 92.
  • This is provided with a first radial portion 92a (FIG. figure 1 ) fixed against the connecting element 16 of the first part 12, by means of a fixing screw 94.
  • the radial portion 92a is extended by a substantially axial portion 92b, itself extended at an axial end by a second radial portion 92c extending axially away from the yoke 26 to the vicinity of the radial end surface 44 of the hinge axis 30.
  • the radial portion 92c abuts against the radial end surface 61 the sheath 52.
  • the fixing of the sheath 52 on the bracket 92 is performed by means of fasteners 96, such as screws, housed inside holes 98 formed on the end surface 44.
  • the holes 98 are here three in number.
  • the radial portion 92c of the bracket includes, in the vicinity of its free end, an opening 99.
  • the system 10 also comprises a sleeve 100 bearing against said support and radially surrounding at least part of the sleeve 52.
  • the sleeve 100 comprises a portion axial tubular 102 mounted inside the bore 42 of the hinge pin 30, in contact therewith, the free end of said portion bearing surface or abutment 104 against the portion axial 48e of the support 48.
  • the axial portion 102 radially surrounds the sleeve 52 while remaining at a distance therefrom.
  • the sleeve 100 also comprises a radial flange 106 located axially opposite the abutment surface 104.
  • the flange 106 comprises on its outer surface a thread 107 to obtain the fastening by screwing the sleeve 100 inside the bore 42.
  • a corresponding thread (not referenced) is provided on a portion of said bore 42.
  • one could replace the thread provide another suitable fastening means for the retention of the sleeve 100 on the hinge axis.
  • the abutment surface 104 initially bears against the axial portion 48e of the support 48.
  • the sleeve 100 exerts an axial force on the support 48. directed towards the bottom wall 58 which tends to push it to the bottom of the housing 43.
  • the sleeve 100 maintains a contact pressure between the frustoconical portion 48d of the support 48 and a frustoconical portion 42a of the housing 46 of the axis of articulation 30, said frustoconical portion 42a connecting the cylindrical portion of the bore 42 and the bottom portion 58 of the housing 46.
  • the sleeve 100 further constitutes an axial retaining means of the support 48 inside the housing 43.
  • the screwing of the sleeve 100 causes the axial displacement of the support 48 in the direction of the bottom wall 58 until the support is secured inside the bore 42, by jamming the frustoconical portion. 48d bearing against a surface of the frustoconical portion 42a in conformance with said axis.
  • the frustoconical surface 48d also ensures a perfect centering between the support 48 and the hinge axis 30.
  • the hinge axis 30 is also rotated about the axis 34.
  • the support 48 which is angularly bound or secured to said axis is rotated, the sleeve 52 remains fixed.
  • the relative angular displacement is detected via the encoder element 50 and the sensor element 54.
  • a system comprising an articulation axis and an integrated rotation parameter detection assembly which is entirely housed inside the sleeve which is itself disposed inside the housing of the articulation axis.
  • the detection assembly, and in particular the connector is thus effectively protected from shocks and various pollution from the outside environment.
  • This arrangement also facilitates the mounting of the hinge pin which can be mounted by simple axial thrust.
  • a clamping sleeve to obtain the fixing of the support inside the bore of the hinge pin facilitates the assembly but also the dismantling of the system. Indeed, once the sleeve removed, simply pull on the sleeve to extract the detection assembly of the housing of the main axis.
  • the sleeve, the support, the clamping sleeve, the bearing, the encoder, the sensor, the electronic card and the connector are thus in the form of a compact module that can be easily mounted in the housing of the axis provided for in FIG. this effect or easily removed from said housing if necessary.

Abstract

The system has an articulation axle (30) connecting a fixed part and a movable part that is pivoted with respect to the fixed part. A detection assembly (40) detecting rotation parameters of the movable part is mounted inside a housing (46) of the axle. The assembly includes a roller bearing (56) provided with a massive type inner and outer rings (62, 64). A hollow shaft (52) is connected to the outer ring. The assembly is provided with a support (48) that is angularly fixed to the axle, where the inner ring is mounted on the support. A sleeve (100) retains the support inside the housing.

Description

La présente invention concerne le domaine des systèmes d'articulation instrumentés utilisés en particulier sur les engins pour l'exécution de terrassements.The present invention relates to the field of instrumented articulation systems used in particular on machines for the execution of earthworks.

Plus précisément, la présente invention concerne un système d'articulation instrumenté destiné à relier une première partie et une seconde partie mobile pivotante par rapport à la première partie, et apte à mesurer le déplacement angulaire relative de ces deux parties.More specifically, the present invention relates to an instrumented articulation system for connecting a first portion and a second pivotable movable portion relative to the first portion, and adapted to measure the relative angular displacement of these two parts.

De tels systèmes d'articulation sont classiquement utilisés pour des bras articulés d'engins de terrassements afin de piloter le déplacement angulaire de divers éléments articulés.Such articulation systems are conventionally used for articulated arms of earth-moving machines in order to control the angular displacement of various articulated elements.

Généralement, ces systèmes comprennent un boîtier de détection qui est rapporté à une extrémité axiale d'un arbre d'articulation reliant deux parties dont l'une est mobile pivotante par rapport à l'autre.Generally, these systems comprise a detection box which is attached to an axial end of an articulation shaft connecting two parts, one of which is pivotally movable relative to the other.

Or, de tels engins sont généralement soumis à une pollution intense par des projections diverses, notamment de terre, de boue ou encore de poussière. En outre, le nettoyage de ces engins est réalisé avec des jets haute pression qui sont susceptibles de détériorer le boîtier de détection.However, such machines are generally subjected to intense pollution by various projections, including dirt, mud or dust. In addition, the cleaning of these machines is carried out with high pressure jets which are likely to deteriorate the detection box.

Par ailleurs, de par sa disposition sur l'arbre d'articulation, le boîtier peut également être soumis à des chocs lors de déplacements de l'engin sur lequel il est monté.Furthermore, by its arrangement on the hinge shaft, the housing can also be subjected to shocks during movement of the machine on which it is mounted.

Dès lors, on conçoit aisément qu'il existe un risque important de détérioration du boîtier de détection, ce qui diminue sensiblement sa durée de vie ainsi que la fiabilité de l'engin pour l'exécution de terrassements.Therefore, it is easily understood that there is a significant risk of deterioration of the detection housing, which significantly reduces its life as well as the reliability of the machine for the execution of earthworks.

De manière à remédier à ces inconvénients, le document EP-A-1 092 809 décrit un système d'articulation instrumenté pourvu d'un arbre principal comprenant un évidement à l'intérieur duquel est monté par emmanchement un boîtier comprenant des moyens de détection de paramètres de rotation. Le système d'articulation comprend également un arbre secondaire et un palier à roulement monté entre ledit arbre et le boîtier pour la détection des paramètres de rotation.In order to remedy these drawbacks, the document EP-A-1 092 809 describes an instrumented articulation system provided with a main shaft comprising a recess inside which is mounted by fitting a housing comprising means for detecting rotation parameters. The hinge system also includes a secondary shaft and a rolling bearing mounted between said shaft and the housing for detecting rotational parameters.

Ce système d'articulation a notamment pour inconvénient majeur de ne pas permettre une extraction aisée du boîtier en vue par exemple d'une opération de réparation d'un des moyens prévus pour la détection. En effet, pour obtenir après montage le déplacement du boîtier, il est nécessaire d'exercer un effort axial de traction relativement important sur l'arbre secondaire, ce qui soumet le palier à roulement à des contraintes excessives et peut provoquer une détérioration de celui-ci.This articulation system has the major disadvantage of not allowing easy extraction of the housing for example for a repair operation of one of the means provided for the detection. In fact, in order to obtain the displacement of the casing after mounting, it is necessary to exert a relatively large axial pulling force on the secondary shaft, which subjects the rolling bearing to excessive stresses and can cause a deterioration of the latter. this.

La présente invention a donc pour but de remédier à cet inconvénient.The present invention therefore aims to overcome this disadvantage.

Plus particulièrement, la présente invention vise à prévoir un système d'articulation instrumenté qui soit particulièrement compact, bien protégé, facile à monter et à démonter, et économique.More particularly, the present invention aims to provide an instrumented articulation system which is particularly compact, well protected, easy to assemble and disassemble, and economical.

La présente invention a également pour but de prévoir un système présentant une bonne sûreté de fonctionnement.The present invention also aims to provide a system with good reliability.

Dans un mode de réalisation, le système d'articulation instrumenté comprend un axe d'articulation apte à relier une première partie et une seconde partie mobile pivotante par rapport à la première partie, et un ensemble de détection de paramètres de rotation de la seconde partie monté à l'intérieur d'un logement de l'axe d'articulation. Ledit ensemble de détection comprend au moins un roulement muni d'une bague intérieure et d'une bague extérieure, et un fourreau lié angulairement à la bague extérieure. L'ensemble de détection est pourvu en outre un support lié angulairement à l'axe d'articulation et sur lequel est monté la bague intérieure du roulement, et d'un moyen de retenue axiale du support à l'intérieur du logement.In one embodiment, the instrumented articulation system comprises a hinge pin adapted to connect a first portion and a second pivotable movable portion relative to the first portion, and a rotation parameter detection assembly of the second portion. mounted inside a housing of the hinge pin. Said detection assembly comprises at least one bearing provided with an inner ring and an outer ring, and a sleeve angularly bonded to the outer ring. The detection assembly is further provided with a support angularly connected to the axis articulation and on which is mounted the inner ring of the bearing, and an axial retaining means of the support inside the housing.

Avec un tel système, il devient dès lors possible d'obtenir un démontage particulièrement aisé du fourreau et du support en limitant le risque d'endommagement du ou des roulements.With such a system, it becomes therefore possible to obtain particularly easy disassembly of the sleeve and the support by limiting the risk of damage to the bearing or bearings.

En effet, la disposition d'un moyen de retenue axiale permet d'éviter de prévoir un montage serré du support à l'intérieur du logement. Dès lors, après avoir retiré le moyen de retenue axiale, le support et le fourreau peuvent être facilement extraits du logement. On limite ainsi le risque de détérioration du ou des paliers à roulement lors du démontage du système.Indeed, the provision of an axial retaining means avoids to provide a tight fitting of the support inside the housing. Therefore, after removing the axial retaining means, the support and the sleeve can be easily removed from the housing. This limits the risk of deterioration of the rolling bearings during disassembly of the system.

En d'autres termes, avec le moyen de retenue axiale en appui contre le support sur lequel est monté la bague intérieure du roulement et le montage de la bague extérieure dudit roulement dans le fourreau qui est lui-même monté sans contact dans le logement de l'axe d'articulation, on évite de solliciter le roulement de manière excessive lors d'un démontage du système. Ceci est notamment rendu possible par le montage du roulement sans contact direct avec l'axe d'articulation.In other words, with the axial retaining means bearing against the support on which is mounted the inner ring of the bearing and mounting the outer ring of said bearing in the sleeve which is itself mounted without contact in the housing of the axis of articulation, it avoids overloading the bearing during a disassembly of the system. This is made possible by the mounting of the bearing without direct contact with the hinge pin.

Dans un mode de réalisation, le moyen de retenue axiale comprend un manchon pourvu d'une portion de fixation sur l'axe d'articulation et d'une surface d'appui pour le support.In one embodiment, the axial retention means comprises a sleeve provided with a fixing portion on the hinge axis and a bearing surface for the support.

Avantageusement, le support comprend une portion axiale tubulaire extérieure disposée à l'intérieur d'un alésage cylindrique du logement.Advantageously, the support comprises an outer tubular axial portion disposed inside a cylindrical bore of the housing.

Dans un mode de réalisation, la portion axiale tubulaire extérieure entoure radialement au moins en partie le fourreau en laissant subsister un jeu radial entre ledit fourreau et le support.In one embodiment, the outer tubular axial portion radially surrounds at least part of the sleeve leaving a radial clearance between said sleeve and the support.

Dans un mode de réalisation, le support comprend une portion de coincement tronconique apte à coopérer avec une portion de forme complémentaire d'un alésage du logement de l'axe d'articulation.In one embodiment, the support comprises a frustoconical wedging portion adapted to cooperate with a portion of complementary shape of a bore of the housing of the hinge pin.

De préférence, le fourreau est entièrement logé à l'intérieur du logement de l'axe d'articulation. Le fourreau peut comporter un alésage étagé pour le montage d'éléments de l'ensemble de détection.Preferably, the sheath is entirely housed inside the housing of the hinge pin. The sleeve may comprise a stepped bore for mounting elements of the detection assembly.

Dans un mode de réalisation, l'ensemble de détection comprend un connecteur s'étendant axialement à l'intérieur du fourreau. Le connecteur est entièrement logé à l'intérieur du fourreau.In one embodiment, the detection assembly comprises a connector extending axially inside the sheath. The connector is fully housed inside the sleeve.

De préférence, l'ensemble de détection comprend un élément codeur monté à une extrémité axiale du support et un élément capteur situé axialement en regard dudit élément codeur.Preferably, the detection assembly comprises an encoder element mounted at an axial end of the support and a sensor element located axially opposite said encoder element.

Dans un mode de réalisation, l'élément capteur est monté contre une carte de circuit imprimé en appui contre une surface de butée du fourreau.In one embodiment, the sensor element is mounted against a printed circuit board bearing against an abutment surface of the sleeve.

L'invention a également pour objet un engin de terrassement comprenant une première partie, une seconde partie mobile formant bras pivotant par rapport à la première partie, au moins un axe d'articulation apte à relier les parties entre elles, et un ensemble de détection de paramètres de rotation de la seconde partie monté à l'intérieur d'un logement de l'axe d'articulation. Ledit ensemble de détection comprend au moins un roulement muni d'une bague intérieure et d'une bague extérieure, et un fourreau lié angulairement à la bague extérieure. L'ensemble de détection est pourvu en outre d'un support lié angulairement à l'axe d'articulation et sur lequel est monté la bague intérieure du roulement, et d'un moyen de retenue axiale du support à l'intérieur du logement.The subject of the invention is also an earthmoving machine comprising a first part, a second mobile part forming a pivoting arm with respect to the first part, at least one hinge axis capable of connecting the parts together, and a detection assembly. rotation parameters of the second portion mounted within a housing of the hinge axis. Said detection assembly comprises at least one bearing provided with an inner ring and an outer ring, and a sleeve angularly bonded to the outer ring. The detection assembly is further provided with a support angularly connected to the hinge pin and on which is mounted the inner ring of the bearing, and an axial retaining means of the support inside the housing.

En d'autres termes, l'ensemble de détection comprend un support pour le montage de la bague intérieure du roulement et un moyen de blocage en position du support à l'intérieur du logement.In other words, the detection assembly comprises a support for mounting the inner ring of the bearing and a locking means in position of the support inside the housing.

La présente invention sera mieux comprise à la lecture de la description détaillée d'un mode de réalisation pris à titre d'exemple nullement limitatif et illustré par les dessins annexés, sur lesquels :

  • la figure 1 est une vue en coupe axiale d'un système d'articulation instrumenté selon l'invention,
  • la figure 2 est une vue de détail de la figure 1, et
  • la figure 3 est une vue en perspective d'un module du système d'articulation de la figure 1.
The present invention will be better understood on reading the detailed description of an embodiment taken by way of non-limiting example and illustrated by the appended drawings, in which:
  • the figure 1 is an axial sectional view of an instrumented articulation system according to the invention,
  • the figure 2 is a detail view of the figure 1 , and
  • the figure 3 is a perspective view of a module of the articulation system of the figure 1 .

Sur la figure 1, on a représenté un système d'articulation instrumenté, désigné par la référence numérique générale 10, destiné à relier une première partie, ici fixe 12 et solidaire d'un châssis (non représenté) d'un engin pour l'exécution de terrassements et une seconde partie 14 formant bras articulé mobile par rapport à la première partie 12. L'engin peut par exemple être une pelleteuse.On the figure 1 , there is shown an instrumented articulation system, designated by the general reference numeral 10, intended to connect a first part, here fixed 12 and integral with a chassis (not shown) of a machine for the execution of earthworks and a second part 14 articulated arm movable relative to the first part 12. The machine can for example be a backhoe.

La première partie 12 fixe comprend notamment deux éléments de liaison 16, 18 parallèles et reliés entre eux par une entretoise 20 s'étendant transversalement.The first fixed portion 12 comprises in particular two connecting elements 16, 18 parallel and interconnected by a spacer 20 extending transversely.

Pour permettre un montage à rotation du système d'articulation 10 par rapport à la première partie 12 fixe, celle-ci comprend également des paliers lisses 22, 24 montés à proximité d'extrémités libres des éléments de liaison 16 et 18, respectivement.To allow rotational mounting of the hinge system 10 relative to the first fixed portion 12, it also comprises plain bearings 22, 24 mounted near free ends of the connecting members 16 and 18, respectively.

La seconde partie 14 mobile présente, en section droite, une forme générale en U. Chaque extrémité du U comprend une chape 26, 28 entourant respectivement les éléments de liaison 16 et 18.The second movable portion 14 has, in cross section, a generally U-shaped. Each end of the U comprises a yoke 26, 28 respectively surrounding the connecting elements 16 and 18.

Afin d'obtenir une articulation de la seconde partie 14 mobile par rapport à la première partie 12 fixe, le système 10 comporte un premier axe d'articulation 30 monté sur la chape 26, et un second axe d'articulation 32 disposé au niveau de la chape 28. Les axes d'articulations 30, 32 comprennent un axe géométrique commun 34.In order to obtain an articulation of the second movable part 14 with respect to the first fixed part 12, the system 10 comprises a first hinge axis 30 mounted on the yoke 26, and a second hinge axis 32 disposed at the yoke 28. The hinge axes 30, 32 comprise a common geometric axis 34.

Plus précisément, le premier axe d'articulation 30 est monté à rotation par rapport à la première partie 12 fixe autour de l'axe 34, par l'intermédiaire du palier 22. Il est fixé rigidement sur la seconde partie mobile 14 au niveau de la chape 26. Le second axe d'articulation 32 est monté à rotation par rapport à la première partie fixe 12 autour de l'axe 34, par l'intermédiaire du palier 24.More specifically, the first hinge axis 30 is rotatably mounted relative to the first fixed portion 12 about the axis 34, via the bearing 22. It is fixed rigidly on the second movable portion 14 at the level of clevis 26. The second hinge pin 32 is rotatably mounted relative to the first fixed part 12 about the axis 34, via the bearing 24.

Pour la détection du déplacement angulaire de la seconde partie 14 mobile relativement à la première partie 12 fixe, le système 10 comprend encore un ensemble 40 de détection de paramètres de rotation monté à l'intérieur de l'axe d'articulation 30.For the detection of the angular displacement of the second moving part 14 relative to the fixed first part 12, the system 10 also comprises a rotation parameter detection assembly 40 mounted inside the hinge axis 30.

Comme illustré plus visiblement sur la figure 2, l'ensemble 40 de détection est monté à l'intérieur d'un alésage 42 cylindrique centré sur l'axe 34 et ménagé à partir d'une surface d'extrémité 44 radiale de l'axe d'articulation 30. L'alésage 42 délimite un logement 46 à l'intérieur duquel est entièrement monté l'ensemble 40 de détection.As illustrated more visibly on the figure 2 , the detection unit 40 is mounted inside a cylindrical bore 42 centered on the axis 34 and formed from a radial end surface 44 of the hinge axis 30. The bore 42 delimits a housing 46 within which is entirely mounted the detection assembly 40.

L'ensemble 40 de détection comprend principalement un support 48 comprenant un élément codeur 50, un fourreau 52 supportant un élément capteur 54 axialement en regard de l'élément codeur 50, et un palier à roulement 56 disposé entre le support et le fourreau.The detection assembly 40 mainly comprises a support 48 comprising an encoder element 50, a sleeve 52 supporting a sensor element 54 axially facing the encoder element 50, and a rolling bearing 56 disposed between the support and the sleeve.

Le support 48 comprend une portion axiale intérieure 48a qui est prolongée vers l'extérieur, à partir d'une extrémité axiale, par une première portion radiale 48b, elle-même prolongée vers l'extérieur par une seconde portion radiale 48c de dimension axiale réduite. La portion radiale 48c est prolongée à partir d'un bord de grand diamètre par une portion tronconique 48d s'évasant vers l'extérieur, elle-même prolongée axialement par une portion axiale tubulaire extérieure 48e qui entoure radialement la première portion 48a. Le support 48 est délimité axialement par des surfaces frontales radiales d'extrémité 48f et 48g.The support 48 comprises an inner axial portion 48a which is extended outwards, from an axial end, by a first radial portion 48b, itself extended outwards by a second radial portion 48c of reduced axial dimension. . The radial portion 48c is extended from a large diameter edge by a frustoconical portion 48d flaring outwards, itself extended axially by an outer tubular axial portion 48e radially surrounding the first portion 48a. The support 48 is delimited axially by end radial end surfaces 48f and 48g.

Le support 48 est monté axialement à l'intérieur de l'alésage 42 de l'axe d'articulation 30. Plus précisément, la surface frontale radiale d'extrémité 48f est à proximité d'une paroi de fond 58 de l'alésage 42. La portion axiale tubulaire extérieure 48e du support 48 vient se loger avec un faible jeu radial à l'intérieur de l'alésage 42 de l'axe d'articulation 30. Comme cela sera décrit plus en détail par la suite, la portion tronconique 48d forme quant à elle une portion de coincement et de centrage dudit support à l'intérieur de l'alésage 42.The support 48 is mounted axially inside the bore 42 of the hinge pin 30. Specifically, the radial end face 48f is near a bottom wall 58 of the bore 42 The outer tubular axial portion 48e of the support 48 is housed with a small radial clearance inside the bore 42 of the hinge pin 30. As will be described in more detail later, the frustoconical portion 48d forms a wedging and centering portion of said support inside the bore 42.

Le fourreau 52, centré sur l'axe 34, présente une forme générale tubulaire. Le fourreau 52 est entièrement situé axialement à l'intérieur du logement 46, et reste radialement à distance de l'alésage 42 cylindrique. En d'autres termes, il existe un espace radial entre la surface extérieure du fourreau 52 et l'alésage 42. Le fourreau 52 comprend un alésage 60 étagé ménagé à partir d'une surface d'extrémité 61 radiale qui est décalée axialement par rapport à la surface d'extrémité 44, en direction de la paroi de fond 58. L'alésage 60 s'étend sur toute la longueur du fourreau 52. Ledit fourreau présente une forme générale creuse.The sheath 52, centered on the axis 34, has a generally tubular shape. The sheath 52 is located entirely axially inside the housing 46, and remains radially at a distance from the cylindrical bore 42. In other words, there is a radial space between the outer surface of the sheath 52 and the bore 42. The sheath 52 comprises a stepped bore 60 formed from a radial end surface 61 which is offset axially relative to at the end surface 44, towards the bottom wall 58. The bore 60 extends over the entire length of the sheath 52. Said sheath has a generally hollow shape.

L'alésage 60 comprend un premier étage 60a s'étendant à partir de la surface d'extrémité 51 et prolongé à une extrémité axiale par un second étage 60b de diamètre réduit, lui-même prolongé à une extrémité axiale située du côté opposé au premier étage 60a, par un troisième étage 60c de diamètre supérieur au diamètre du premier étage 60a. Le troisième étage 60c est prolongé à une extrémité axiale par un quatrième étage 60d, lui-même prolongé axialement du côté opposé au troisième étage 60c, par un cinquième étage 60e de plus grand diamètre. Le cinquième étage de l'alésage 60e s'étend axialement en partie dans l'espace annulaire délimité entre les première et seconde portions axiales intérieure 48a et extérieure 48e du support 48, jusqu'au voisinage de la portion radiale 48c. En d'autres termes, la portion extérieure 48e entoure radialement au moins en partie le fourreau 52 en laissant subsister un jeu radial entre ledit fourreau et le support.The bore 60 comprises a first stage 60a extending from the end surface 51 and extended at an axial end by a second stage 60b of reduced diameter, itself extended to an axial end located on the opposite side to the first stage 60a, by a third stage 60c of diameter greater than the diameter of the first stage 60a. The third stage 60c is extended at one axial end by a fourth stage 60d, itself extended axially on the opposed to the third stage 60c, by a fifth stage 60e of larger diameter. The fifth stage of the bore 60e extends axially in part in the annular space defined between the first and second inner axial portions 48a and outer 48e of the support 48, to the vicinity of the radial portion 48c. In other words, the outer portion 48e radially surrounds at least part of the sleeve 52 leaving a radial clearance between said sleeve and the support.

Le palier à roulement 56, à gorge profonde et à faces latérales radiales, est un roulement standard qui présente un faible coût de fabrication. Il comprend une bague intérieure 62, une bague extérieure 64, entre lesquelles sont logées une rangée d'éléments roulants 66 réalisés ici sous forme de billes, une cage de maintien 68 de l'espace circonférentiel des éléments roulants, et deux joints d'étanchéité 70 et 72.The rolling bearing 56, deep groove and radial side faces, is a standard bearing which has a low manufacturing cost. It comprises an inner ring 62, an outer ring 64, between which are housed a row of rolling elements 66 made here in the form of balls, a cage 68 for holding the circumferential space of the rolling elements, and two seals 70 and 72.

La bague intérieure 62 est de type massif. On entend par « bague de type massif », une bague dont la forme est obtenue par usinage avec enlèvement de copeaux (tournage, rectification) à partir de tubes, de barres, d'ébauches forgées et/ou roulées.The inner ring 62 is massive type. The term "solid type ring" means a ring whose shape is obtained by machining with removal of chips (turning, grinding) from tubes, bars, forged blanks and / or rolled.

La bague intérieure 62 comprend un alésage 62a de forme cylindrique emmanché sur la surface extérieure de la portion axiale 48a du support 48, et délimité par des surfaces latérales radiales 62b et 62c opposées. La surface latérale radiale 62b est montée contre la portion radiale 48b qui forme ainsi une surface de butée axiale pour le roulement 56. La bague intérieure 62 comprend encore une surface cylindrique extérieure 62d à partir de laquelle est formée une gorge circulaire toroïdale (non référencée) présentant en section droite un profil interne concave apte à former un chemin de roulement pour les éléments roulants 66, ladite gorge étant orientée vers l'extérieur.The inner ring 62 comprises a bore 62a of cylindrical shape fitted on the outer surface of the axial portion 48a of the support 48, and defined by opposite radial side surfaces 62b and 62c. The radial lateral surface 62b is mounted against the radial portion 48b which thus forms an axial abutment surface for the bearing 56. The inner ring 62 also comprises an outer cylindrical surface 62d from which is formed a toroidal circular groove (not referenced) having in cross section a concave internal profile adapted to form a raceway for the rolling elements 66, said groove being oriented outwards.

La bague extérieure 64, également de type massif, comprend une surface cylindrique extérieure 64a montée par emmanchement à l'intérieur du cinquième étage 60e de l'alésage 60 du fourreau 52, et délimitée par des surfaces latérales radiales 64b et 64c opposées. La surface latérale radiale 64c vient en appui contre une surface radiale de l'alésage 60 ménagée entre le cinquième étage 60e et le quatrième étage 60d dudit alésage. Cette surface forme ainsi surface de butée axiale pour le roulement 56.The outer ring 64, also of massive type, comprises an outer cylindrical surface 64a fitted by fitting inside the fifth stage 60e of the bore 60 of the sleeve 52, and delimited by opposite radial lateral surfaces 64b and 64c. The radial lateral surface 64c abuts against a radial surface of the bore 60 formed between the fifth stage 60e and the fourth stage 60d of said bore. This surface thus forms an axial abutment surface for the bearing 56.

La bague extérieure 64 comporte encore un alésage 64d de forme cylindrique à partir duquel est formée une gorge circulaire toroïdale (non référencée) présentant en section droite un profil interne concave apte à former un chemin de roulement pour les éléments roulants 66, ladite gorge étant orientée vers l'intérieur.The outer ring 64 further comprises a cylindrical bore 64d from which is formed a toroidal circular groove (not referenced) having in cross section a concave internal profile adapted to form a raceway for the rolling elements 66, said groove being oriented towards the inside.

La bague extérieure 64 comprend également, au niveau de l'alésage 64d et à proximité des surfaces radiales 64b et 64c, deux rainures (non référencées) annulaires symétriques entre elles par rapport à un plan radial passant par le centre des éléments roulants 66. A l'intérieur desdites rainures sont montés les joints 70 et 72 d'étanchéité aptes à empêcher l'intrusion d'éléments extérieurs indésirables à l'intérieur du palier à roulement 56.The outer ring 64 also comprises, at the bore 64d and near the radial surfaces 64b and 64c, two grooves (not referenced) annular symmetrical to each other with respect to a radial plane passing through the center of the rolling elements 66. A the inside of said grooves are mounted the seals 70 and 72 of sealing adapted to prevent the intrusion of unwanted external elements inside the rolling bearing 56.

Comme indiqué précédemment, pour permettre une détection du déplacement angulaire de la seconde partie 14 mobile relativement à la première partie 12, l'ensemble 40 de détection comporte l'élément codeur 50 et l'élément capteur 54 situé sensiblement axialement en regard dudit élément codeur.As indicated above, to allow detection of the angular displacement of the second movable portion 14 relative to the first portion 12, the detection assembly 40 comprises the encoder element 50 and the sensor element 54 located substantially axially opposite said encoder element .

L'élément codeur 50 est monté dans un logement 74 ménagé à partir de la surface radiale d'extrémité 48g. Ainsi, l'élément codeur 50 est monté à une extrémité axiale du support 48, du côté opposé à la paroi de fond 58 de l'axe d'articulation 30. L'élément codeur 50 est ici centré sur l'axe 34, en étant en légère saillie axiale par rapport à la surface radiale d'extrémité 48g. L'élément codeur 50 peut par exemple être réalisé sous la forme d'un aimant, de forme générale cylindrique. I1 est fixé à l'intérieur du logement 74, par tout moyen approprié.The encoder element 50 is mounted in a housing 74 formed from the radial end surface 48g. Thus, the encoder element 50 is mounted at an axial end of the support 48, on the opposite side to the bottom wall 58 of the hinge axis 30. The encoder element 50 is here centered on the axis 34, being in slight axial projection relative to the radial end surface 48g. The encoder element 50 may for example be in the form of a magnet, of generally cylindrical shape. It is fixed inside the housing 74, by any appropriate means.

L'élément capteur 54 comprend, quant à lui, une partie active formant capteur 76 et une carte 78 de circuit imprimé rigide formant plaque de support du capteur 76 qui est montée en appui contre une surface radiale délimitée par le troisième étage 60c et le quatrième étage 60d de l'alésage 60 du fourreau 52.The sensor element 54 comprises, for its part, an active sensor portion 76 and a rigid printed circuit board 78 forming a support plate for the sensor 76 which is mounted in abutment against a radial surface delimited by the third stage 60c and the fourth stage 60d of the bore 60 of the sleeve 52.

Le capteur 76 est monté axialement en regard de l'élément codeur 50 avec un faible entrefer axial. Le capteur 76 peut être du type magnéto sensible, et comporter par exemple une magnétorésistance ou un faisceau de sondes à effet Hall. Le capteur 76 est disposé à faible distance axiale de l'élément codeur 50, ce qui favorise la compacité de l'ensemble 40.The sensor 76 is mounted axially facing the encoder element 50 with a small axial gap. The sensor 76 may be of the magneto-sensitive type, and may comprise, for example, a magnetoresistance or a beam of Hall effect probes. The sensor 76 is arranged at a short axial distance from the encoder element 50, which promotes the compactness of the assembly 40.

La carte 78 de circuit imprimé est apte à traiter des données ou signaux transmis par le capteur 76 représentatifs de la position angulaire de la seconde partie 14 mobile par rapport à celle de la première partie 12 fixe. A cet égard, la carte 78 peut comprendre un circuit de prétraitement des signaux émis.The printed circuit board 78 is able to process data or signals transmitted by the sensor 76 representative of the angular position of the second movable portion 14 relative to that of the first fixed portion 12. In this regard, the card 78 may include a preprocessing circuit of the transmitted signals.

Pour permettre le montage de la carte 78 de circuit imprimé à l'intérieur de l'alésage 60, le système 10 comprend également deux rondelles d'appui 80 et 82 montées axialement en appui l'une contre l'autre et en contact avec le quatrième étage 60d de l'alésage 60.To allow the circuit board 78 to be mounted inside the bore 60, the system 10 also comprises two bearing washers 80 and 82 mounted axially in abutment with each other and in contact with the fourth stage 60d of the bore 60.

La rondelle d'appui 80 est montée axialement contre une surface de la carte 78 de circuit imprimé. La rondelle d'appui 80 est réalisée dans un matériau relativement rigide, par exemple en acier. La rondelle d'appui 82 est montée, quant à elle, axialement entre la rondelle d'appui 88 et la surface radiale 64c de la bague extérieure 64 du roulement 56. La rondelle 82 est réalisée en matière élastique souple, par exemple en élastomère.The bearing washer 80 is mounted axially against a surface of the PCB 78. The bearing washer 80 is made of a relatively rigid material, for example steel. The bearing washer 82 is mounted, for its part, axially between the bearing washer 88 and the radial surface 64c of the outer ring 64. of the bearing 56. The washer 82 is made of flexible elastic material, for example elastomer.

Ainsi, la rondelle d'appui 82 précontraint axialement la rondelle d'appui 80 contre la carte 78 de circuit imprimé, ce qui permet notamment d'absorber d'éventuelles variations dimensionnelles de celle-ci et de garantir en permanence un positionnement axial correct de la carte 78 et l'absence de jeu axial. En variante, il pourrait être également envisageable de prévoir à cet effet une rondelle ondulée axialement élastique.Thus, the support washer 82 axially prestressing the bearing washer 80 against the printed circuit board 78, which in particular makes it possible to absorb any dimensional variations thereof and to guarantee permanently a correct axial positioning of the the card 78 and the absence of axial play. Alternatively, it could also be possible to provide for this purpose an axially resilient corrugated washer.

Pour permettre un pilotage de la seconde partie mobile 14 en fonction des signaux émis par le capteur 54, le système 10 comprend encore une unité de contrôle (non représentée) pouvant comporter un élément de filtrage, un convertisseur analogique/numérique pour convertir les signaux émis par ledit capteur.To enable control of the second moving part 14 as a function of the signals emitted by the sensor 54, the system 10 also comprises a control unit (not shown) which may comprise a filtering element, an analog / digital converter for converting the transmitted signals. by said sensor.

Afin de connecter l'unité de contrôle à la carte 78 de circuit imprimé, l'ensemble 40 de détection comprend encore un connecteur 86 monté à l'intérieur du second étage 60b de l'alésage 60 du fourreau 52. Le connecteur 86 s'étend axialement vers l'extérieur, en étant toutefois entièrement logé à l'intérieur de l'alésage 60.In order to connect the control unit to the printed circuit board 78, the detection assembly 40 further comprises a connector 86 mounted inside the second stage 60b of the bore 60 of the sleeve 52. The connector 86 is extends axially outwards, however being fully housed inside the bore 60.

Plus précisément, le connecteur 86 est entièrement logé à l'intérieur du fourreau 52, une extrémité axiale dudit connecteur étant légèrement en retrait par rapport à la surface d'extrémité 61. Compte tenu de la forme creuse du fourreau 52, le connecteur 86 peut être aisément connecté électriquement avec l'extérieur du système sans qu'il soit nécessaire de prévoir dans ledit fourreau un cheminement spécifique pour un câble électrique et/ou l'utilisation de pièces additionnelles de fixation. On simplifie ainsi la conception du fourreau 52, et plus généralement du système 10.More specifically, the connector 86 is entirely housed inside the sleeve 52, an axial end of said connector being slightly recessed with respect to the end surface 61. Given the hollow shape of the sleeve 52, the connector 86 can be easily electrically connected with the outside of the system without the need to provide in said sheath a specific path for an electrical cable and / or the use of additional fasteners. This simplifies the design of the sheath 52, and more generally of the system 10.

Le connecteur 86 est relié à la carte 78 de circuit imprimé, par l'intermédiaire de connexions électriques 89 qui s'étendent axialement entre ces deux éléments à l'intérieur du troisième étage 60c de l'alésage 60. Un joint d'étanchéité 90 est encore prévu entre le second étage 60b de l'alésage 60 et le connecteur 86.The connector 86 is connected to the printed circuit board 78 through electrical connections 89 which extend axially between these two elements within the third stage 60c of the bore 60. A seal 90 is further provided between the second stage 60b of the bore 60 and the connector 86.

Afin de permettre la liaison angulaire du fourreau 52 avec la première partie 12 fixe, le système 10 comprend une potence 92. Celle-ci est pourvue d'une première portion radiale 92a (figure 1) fixée contre l'élément de liaison 16 de la première partie 12, par l'intermédiaire d'une vis de fixation 94. La portion radiale 92a est prolongée par une portion sensiblement axiale 92b, elle-même prolongée à une extrémité axiale par une seconde portion radiale 92c s'étendant axialement à distance de la chape 26 jusqu'au voisinage de la surface d'extrémité 44 radiale de l'axe d'articulation 30. La portion radiale 92c vient en appui contre la surface radiale d'extrémité 61 du fourreau 52. La fixation du fourreau 52 sur la potence 92 est réalisée par l'intermédiaire d'organes de fixation 96, tels que des vis, logés à l'intérieur de trous 98 ménagés sur la surface d'extrémité 44. Les trous 98 sont ici au nombre de trois. Pour permettre un accès facilité au connecteur 86 en vue d'un branchement électrique, la portion radiale 92c de la potence comprend, au voisinage de son extrémité libre, une ouverture 99.In order to allow the angular connection of the sheath 52 with the first fixed portion 12, the system 10 comprises a bracket 92. This is provided with a first radial portion 92a (FIG. figure 1 ) fixed against the connecting element 16 of the first part 12, by means of a fixing screw 94. The radial portion 92a is extended by a substantially axial portion 92b, itself extended at an axial end by a second radial portion 92c extending axially away from the yoke 26 to the vicinity of the radial end surface 44 of the hinge axis 30. The radial portion 92c abuts against the radial end surface 61 the sheath 52. The fixing of the sheath 52 on the bracket 92 is performed by means of fasteners 96, such as screws, housed inside holes 98 formed on the end surface 44. The holes 98 are here three in number. To allow easy access to the connector 86 for electrical connection, the radial portion 92c of the bracket includes, in the vicinity of its free end, an opening 99.

Pour assurer le maintien du contact axial entre l'axe 30 d'articulation et le support 48, le système 10 comprend également un manchon 100 en appui contre ledit support et entourant radialement au moins en partie le fourreau 52. Le manchon 100 comprend une portion axiale 102 tubulaire montée à l'intérieur de l'alésage 42 de l'axe d'articulation 30, en contact contre celui-ci, l'extrémité libre de ladite portion formant surface d'appui ou de butée 104 contre la portion axiale 48e du support 48. La portion axiale 102 entoure radialement le fourreau 52 en restant à distance de celui-ci.To ensure the maintenance of the axial contact between the hinge axis 30 and the support 48, the system 10 also comprises a sleeve 100 bearing against said support and radially surrounding at least part of the sleeve 52. The sleeve 100 comprises a portion axial tubular 102 mounted inside the bore 42 of the hinge pin 30, in contact therewith, the free end of said portion bearing surface or abutment 104 against the portion axial 48e of the support 48. The axial portion 102 radially surrounds the sleeve 52 while remaining at a distance therefrom.

Le manchon 100 comprend également une collerette radiale 106 située axialement à l'opposé de la surface de butée 104. La collerette 106 comprend sur sa surface extérieure un filetage 107 pour obtenir la fixation par vissage du manchon 100 à l'intérieur de l'alésage 42. Un filetage correspondant (non référencé) est ménagé sur une partie dudit alésage 42. Bien entendu, on pourrait en remplacement du filetage prévoir un autre moyen de fixation approprié pour la retenue du manchon 100 sur l'axe d'articulation.The sleeve 100 also comprises a radial flange 106 located axially opposite the abutment surface 104. The flange 106 comprises on its outer surface a thread 107 to obtain the fastening by screwing the sleeve 100 inside the bore 42. A corresponding thread (not referenced) is provided on a portion of said bore 42. Of course, one could replace the thread provide another suitable fastening means for the retention of the sleeve 100 on the hinge axis.

Lors du vissage du manchon 100 à l'intérieur de l'alésage 42, la surface de butée 104 vient dans un premier temps en appui contre la portion axiale 48e du support 48. Ensuite, le manchon 100 exerce sur le support 48 un effort axial dirigé vers la paroi de fond 58 qui tend à le pousser au fond du logement 43. Le manchon 100 permet de maintenir une pression de contact entre la portion tronconique 48d du support 48 et une partie tronconique 42a du logement 46 de l'axe d'articulation 30, ladite partie tronconique 42a reliant la portion cylindrique de l'alésage 42 et la portion de fond 58 du logement 46. Le manchon 100 constitue en outre un moyen de retenue axiale du support 48 à l'intérieur du logement 43.When the sleeve 100 is screwed inside the bore 42, the abutment surface 104 initially bears against the axial portion 48e of the support 48. Next, the sleeve 100 exerts an axial force on the support 48. directed towards the bottom wall 58 which tends to push it to the bottom of the housing 43. The sleeve 100 maintains a contact pressure between the frustoconical portion 48d of the support 48 and a frustoconical portion 42a of the housing 46 of the axis of articulation 30, said frustoconical portion 42a connecting the cylindrical portion of the bore 42 and the bottom portion 58 of the housing 46. The sleeve 100 further constitutes an axial retaining means of the support 48 inside the housing 43.

En d'autres termes, le vissage du manchon 100 provoque le déplacement axial du support 48 en direction de la paroi de fond 58 jusqu'à obtenir la fixation du support à l'intérieur de l'alésage 42, par coincement de la portion tronconique 48d venant en appui contre une surface de la partie tronconique 42a en concordance de forme avec ledit axe. La surface tronconique 48d assure également un centrage parfait entre le support 48 et l'axe d'articulation 30.In other words, the screwing of the sleeve 100 causes the axial displacement of the support 48 in the direction of the bottom wall 58 until the support is secured inside the bore 42, by jamming the frustoconical portion. 48d bearing against a surface of the frustoconical portion 42a in conformance with said axis. The frustoconical surface 48d also ensures a perfect centering between the support 48 and the hinge axis 30.

Pour réaliser le vissage du manchon 100, il est ménagé sur la collerette 106 des encoches 108 axiales visibles sur la figure 3 pour permettre le passage d'une clé crénelée (non représentée).To achieve the screwing of the sleeve 100, it is provided on the flange 106 of the notches 108 axial visible on the figure 3 to allow the passage of a crenellated key (not shown).

En fonctionnement, lorsque la seconde partie 14 pivote angulairement par rapport à la première partie 12, l'axe 30 d'articulation est également entraîné en rotation autour de l'axe 34. Ainsi, le support 48 qui est lié angulairement ou solidaire dudit axe est entraîné en rotation, le fourreau 52 restant quant à lui fixe. Le déplacement angulaire relatif est détecté par l'intermédiaire de l'élément codeur 50 et de l'élément capteur 54.In operation, when the second portion 14 pivots angularly relative to the first portion 12, the hinge axis 30 is also rotated about the axis 34. Thus, the support 48 which is angularly bound or secured to said axis is rotated, the sleeve 52 remains fixed. The relative angular displacement is detected via the encoder element 50 and the sensor element 54.

On obtient ainsi un système comprenant un axe d'articulation et un ensemble intégré de détection de paramètres de rotation qui est entièrement logé à l'intérieur du fourreau qui est lui-même disposé à l'intérieur du logement de l'axe d'articulation. L'ensemble de détection, et notamment le connecteur, est ainsi efficacement protégé des chocs et des pollutions diverses en provenance du milieu extérieur. Cette disposition facilite également le montage de l'axe d'articulation qui peut être monté par simple poussée axiale.A system is thus obtained comprising an articulation axis and an integrated rotation parameter detection assembly which is entirely housed inside the sleeve which is itself disposed inside the housing of the articulation axis. . The detection assembly, and in particular the connector, is thus effectively protected from shocks and various pollution from the outside environment. This arrangement also facilitates the mounting of the hinge pin which can be mounted by simple axial thrust.

Par ailleurs, l'utilisation d'un manchon de serrage pour obtenir la fixation du support à l'intérieur de l'alésage de l'axe d'articulation permet de faciliter le montage mais également le démontage du système. En effet, une fois le manchon enlevé, il suffit de tirer sur le fourreau pour extraire l'ensemble de détection du logement de l'axe principal. Le fourreau, le support, le manchon de serrage, le roulement, le codeur, le capteur, la carte électronique et le connecteur se présentent ainsi sous la forme d'un module compact pouvant être monté facilement dans le logement de l'axe prévu à cet effet ou démonté facilement dudit logement si nécessaire.Furthermore, the use of a clamping sleeve to obtain the fixing of the support inside the bore of the hinge pin facilitates the assembly but also the dismantling of the system. Indeed, once the sleeve removed, simply pull on the sleeve to extract the detection assembly of the housing of the main axis. The sleeve, the support, the clamping sleeve, the bearing, the encoder, the sensor, the electronic card and the connector are thus in the form of a compact module that can be easily mounted in the housing of the axis provided for in FIG. this effect or easily removed from said housing if necessary.

Claims (11)

Système d'articulation instrumenté comprenant un axe d'articulation (30) apte à relier une première partie (12) et une seconde partie mobile (14) pivotante par rapport à la première partie, et un ensemble de détection (40) de paramètres de rotation de la seconde partie monté à l'intérieur d'un logement (46) de l'axe d'articulation (30), ledit ensemble de détection (40) comprenant au moins un roulement (56) muni d'une bague intérieure et d'une bague extérieure, et un fourreau (52) lié angulairement à la bague extérieure, caractérisé en ce que l'ensemble de détection (40) est pourvu en outre d'un support (48) lié angulairement à l'axe d'articulation (30) et sur lequel est monté la bague intérieure du roulement, et d'un moyen de retenue axiale (100) du support à l'intérieur du logement (46).An instrumented articulation system comprising a hinge axis (30) adapted to connect a first portion (12) and a second movable portion (14) pivotable relative to the first portion, and a detection assembly (40) of parameters of rotating the second portion mounted within a housing (46) of the hinge axis (30), said detecting assembly (40) comprising at least one bearing (56) having an inner ring and an outer ring, and a sleeve (52) angularly connected to the outer ring, characterized in that the detection assembly (40) is further provided with a support (48) angularly connected to the axis of articulation (30) and on which is mounted the inner ring of the bearing, and an axial retaining means (100) of the support inside the housing (46). Système selon la revendication 1, dans lequel le moyen de retenue axiale (100) comprend un manchon pourvu d'une portion de fixation (106) sur l'axe d'articulation (30) et d'une surface d'appui (104) pour le support (48).The system of claim 1, wherein the axial retaining means (100) comprises a sleeve having an attachment portion (106) on the hinge axis (30) and a bearing surface (104) for the support (48). Système selon la revendication 1 ou 2, dans lequel le support (48) comprend une portion axiale tubulaire extérieure (48e) disposée à l'intérieur d'un alésage cylindrique (42) du logement (46).The system of claim 1 or 2, wherein the support (48) comprises an outer tubular axial portion (48e) disposed within a cylindrical bore (42) of the housing (46). Système selon la revendication 3, dans lequel la portion axiale tubulaire extérieure (48e) entoure radialement au moins en partie le fourreau (52) en laissant subsister un jeu radial entre ledit fourreau et le support.System according to claim 3, wherein the outer tubular axial portion (48e) radially surrounds at least part of the sleeve (52) leaving a radial clearance between said sleeve and the support. Système selon l'une quelconque des revendications précédentes, dans lequel le support (48) comprend une portion de coincement (48d) tronconique apte à coopérer avec une portion de forme complémentaire (42a) d'un alésage (42) du logement (46) de l'axe d'articulation (30).System according to any one of the preceding claims, wherein the support (48) comprises a frustoconical wedging portion (48d) adapted to cooperate with a portion of complementary shape (42a) of a bore (42) of the housing (46) of the hinge axis (30). Système selon l'une quelconque des revendications précédentes, dans lequel le fourreau (52) est entièrement logé à l'intérieur du logement (46) de l'axe d'articulation (30).System according to any one of the preceding claims, wherein the sheath (52) is entirely housed inside the housing (46) of the hinge pin (30). Système selon l'une quelconque des revendications précédentes, dans lequel le fourreau (52) comporte un alésage (60) étage pour le montage d'éléments de l'ensemble de détection (40).A system according to any one of the preceding claims, wherein the sleeve (52) has a bore (60) stage for mounting elements of the detection assembly (40). Système selon la revendication 7, dans lequel l'ensemble de détection comprend un connecteur (86) s'étendant axialement à l'intérieur du fourreau (52).The system of claim 7, wherein the sensing assembly comprises a connector (86) extending axially within the sleeve (52). Système selon l'une quelconque des revendications précédentes, dans lequel l'ensemble de détection (40) comprend un élément codeur (50) monté à une extrémité axiale du support et un élément capteur (54) situé axialement en regard dudit élément codeur.A system as claimed in any one of the preceding claims wherein the sensor assembly (40) comprises an encoder element (50) mounted at an axial end of the carrier and a sensor element (54) axially facing said encoder element. Système selon la revendication 9, dans lequel l'élément capteur (54) est monté contre une carte (78) de circuit imprimé en appui contre une surface de butée du fourreau (52).The system of claim 9, wherein the sensor element (54) is mounted against a printed circuit board (78) bearing against an abutment surface of the sleeve (52). Engin de terrassement comprenant un système d'articulation instrumenté selon l'une quelconque des revendications précédentes.Earthmoving machine comprising an instrumented articulation system according to any one of the preceding claims.
EP08154212A 2007-04-19 2008-04-08 Instrumented articulation system. Withdrawn EP1983309A1 (en)

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FR0754582A FR2915280B1 (en) 2007-04-19 2007-04-19 INSTRUMENT JOINT SYSTEM.

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EP1983309A1 true EP1983309A1 (en) 2008-10-22

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Publication number Priority date Publication date Assignee Title
CN102803620B (en) * 2009-04-06 2015-11-25 Skf公司 Detection system, be provided with the connected system of this detection system and be equipped with the automobile of this connected system
DE102010027939B4 (en) * 2010-04-20 2018-10-31 Dr. Johannes Heidenhain Gmbh Assembly for an angle measuring device
ES2870327T3 (en) 2019-01-17 2021-10-26 Heidenhain Gmbh Dr Johannes Scanning unit for an angle measuring device
EP3683551B1 (en) 2019-01-17 2021-03-10 Dr. Johannes Heidenhain GmbH Sampling unit for an angle measuring device

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FR2754903B1 (en) * 1996-10-23 1998-12-04 Skf France ENCODER DEVICE FOR ROTATION SPEED SENSOR AND BEARING PROVIDED WITH SUCH A DEVICE
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US20080289838A1 (en) 2008-11-27
FR2915280B1 (en) 2009-07-10

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